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Commit c524e392 authored by Dinesh Atchuthan's avatar Dinesh Atchuthan
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small corrections

parent 8e76341f
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...@@ -44,7 +44,7 @@ class ConstraintIMU_testBase : public testing::Test ...@@ -44,7 +44,7 @@ class ConstraintIMU_testBase : public testing::Test
// Time and data variables // Time and data variables
TimeStamp t; TimeStamp t;
Eigen::Vector6s data_; Eigen::Vector6s data_;
state_vec.resize(16);
t.set(0); t.set(0);
// Set the origin // Set the origin
...@@ -89,7 +89,7 @@ class ConstraintIMU_testBase : public testing::Test ...@@ -89,7 +89,7 @@ class ConstraintIMU_testBase : public testing::Test
}; };
TEST_F(ConstraintIMU_testBase, constructors) TEST_F(ConstraintIMU_testBase, constructorIMU)
{ {
using namespace wolf; using namespace wolf;
...@@ -97,9 +97,9 @@ TEST_F(ConstraintIMU_testBase, constructors) ...@@ -97,9 +97,9 @@ TEST_F(ConstraintIMU_testBase, constructors)
ts = 0.1; ts = 0.1;
state_vec << 0.01,0,0, 0,0,0,1, 0.2,0,0, 0,0,0, 0,0,0; state_vec << 0.01,0,0, 0,0,0,1, 0.2,0,0, 0,0,0, 0,0,0;
last_frame = std::make_shared<FrameIMU>(KEY_FRAME, ts, state_vec); last_frame = std::make_shared<FrameIMU>(KEY_FRAME, ts, state_vec);
//create a feature //create a feature
delta_preint_cov = Eigen::MatrixXs::Random(9,9); delta_preint_cov = Eigen::MatrixXs::Identity(9,9);
delta_preint.resize(10);
delta_preint << 0.01,0,0.049, 0,0,0,1, 0.2,0,0.98; delta_preint << 0.01,0,0.049, 0,0,0,1, 0.2,0,0.98;
dD_db_jacobians = Eigen::Matrix<wolf::Scalar,9,6>::Random(); dD_db_jacobians = Eigen::Matrix<wolf::Scalar,9,6>::Random();
feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov, imu_ptr, dD_db_jacobians); feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov, imu_ptr, dD_db_jacobians);
......
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